CN110161522B - High-repetition-frequency single-photon laser radar capable of eliminating range ambiguity - Google Patents
High-repetition-frequency single-photon laser radar capable of eliminating range ambiguity Download PDFInfo
- Publication number
- CN110161522B CN110161522B CN201910501221.XA CN201910501221A CN110161522B CN 110161522 B CN110161522 B CN 110161522B CN 201910501221 A CN201910501221 A CN 201910501221A CN 110161522 B CN110161522 B CN 110161522B
- Authority
- CN
- China
- Prior art keywords
- time
- laser
- pulse
- signal
- echo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a high repetition frequency single photon laser radar capable of eliminating range ambiguity. The control module is used for generating a pulse signal with adjustable repetition frequency, and the pulse signal is used as a main control signal of the laser and is used for controlling the emission time of the laser pulse. The event timer is utilized to record the reference light pulse time and the echo light pulse time respectively, the signal processing module is used for carrying out time-related single photon counting processing, the laser pulse frequency is changed constantly, only the echo light pulse at the triggering time can be accumulated in the accumulation process, the echo light pulse at the non-triggering time is discretized, and finally the single photon laser radar can eliminate the distance ambiguity problem under the high repetition frequency condition.
Description
Technical Field
The invention belongs to the technical field of laser radars, and particularly relates to a high repetition frequency single photon laser radar capable of eliminating range ambiguity.
Background
The Single Photon laser radar receives a Photon magnitude echo signal by using a Single Photon detector, and improves the detection sensitivity of an optical signal for Time flight ranging to a quantum limit by using a Time-Correlated Single Photon Counting (TCSPC) technology, thereby greatly improving the working distance of the laser radar. Although the single photon laser radar has high detection sensitivity, the TCSPC technology adopted by the single photon laser radar needs to perform multiple accumulation to extract the distance information of the target. Under the condition of a certain repetition frequency, the increase of the accumulated times can cause overlong distance measurement time and be not suitable for the laser distance measurement occasion of a moving target. Therefore, increasing the repetition frequency of the laser pulse is an effective way to increase the data update rate of the single photon laser radar.
However, the increase of the repetition frequency can shorten the maximum unambiguous distance, and limit the application of the single photon laser radar in the long-distance target ranging. In order to solve the contradiction between the repetition frequency of laser pulse and the maximum unambiguous distance, the following are generally present at presentThe method comprises the following steps: one of the techniques is a pseudorandom coding technique based on correlation operation, the method encodes long pulses emitted by laser, and extracts target signals in echo pulses by performing correlation operation on echo pulses received by a detector and emitted pulses, so that long-distance moving target detection is realized. However, this method has a problem that the dead time of the single-photon detector reduces the correlation between the emission pulse and the echo pulse, thereby reducing the sensitivity of echo detection. Another method is dual or multi-frequency modulation, i.e. using two or fixed frequencies (corresponding to periods T, respectively) 1 、T 2 、…、T n ) The laser pulse is modulated, so that the maximum unambiguous distance that can be detected is d max ＝c[T 1 、T 2 、…、T n ]/2, here [ T 1 、T 2 、…、T n ]Is T 1 、T 2 、…、T n The least common multiple of. However, when the time interval between two adjacent echo signals is short (less than the dead time of the single-photon detector), the dead time of the single-photon detector affects the probability of detecting the echo signals.
Disclosure of Invention
In order to overcome the defects and shortcomings of the prior art, the invention provides a high repetition frequency single photon laser radar capable of eliminating range ambiguity, and long-distance moving target detection can be realized at a higher repetition frequency.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a can eliminate fuzzy high repetition frequency single photon laser radar in distance, this laser radar includes control module, laser instrument, beam splitter, emission optical system, photodiode, first event timer, receiving optical system, single photon detector, second event timer and signal processing module, wherein:
the control module is used for generating a trigger pulse signal with adjustable repetition frequency, taking the trigger pulse signal as a master control signal of the laser and controlling the emission time of the laser pulse;
the laser is used for generating a laser pulse signal, and the pulse frequency is controlled by the control module;
the beam splitter divides a laser signal emitted by the laser into two parts, wherein most of the laser is transmitted to the emission optical system to be used as signal light, and the small part of the laser is transmitted to the photodiode to be used as reference light;
the transmitting optical system is used for collimating and expanding the signal light and transmitting the signal light to a target to be detected;
the photodiode is used for detecting the reference light split by the beam splitter and taking the reference light as a timing reference signal;
the first event timer is used for accurately recording the time of the reference light pulse, and the time is used as the starting point of the measurement of the flight time of the pulse;
the receiving optical system is used for receiving laser echo signals reflected/scattered by a measured target;
the single-photon detector is used for responding to a weak echo light pulse signal of a photon magnitude;
the second event timer is used for accurately recording the time of the echo light pulse, and the time is used as an end point of the pulse flight time measurement;
the signal processing module is used for carrying out time correlation single photon counting processing so as to obtain a histogram, calculating the pulse flight time and finally realizing the measurement of the target distance.
The control module is used for generating a trigger pulse signal with adjustable repetition frequency as a main control signal of the laser and controlling the emission time of laser pulses, so that the time intervals between two adjacent pulses output by the laser are different.
The event timer is adopted to accurately record the pulse time of the reference light and the echo light, so that the time resolution of picosecond magnitude can be realized, the time measuring range of large measuring range can be realized, and the contradiction between the time resolution and the time measuring range is overcome.
The time intervals between two adjacent laser pulses are different, so that only the echo light pulse corresponding to the triggering time of this time can be accumulated in the accumulation process, the echo light pulse at the non-triggering time of this time can not be accumulated due to discretization processing, and a plurality of echoes can not appear in the emitted high repetition frequency laser pulse under the condition of the wide-range measurement range.
The high repetition frequency not only solves the problem of multiple accumulation of a photon counting system, but also can adapt to the distance measurement occasion under the motion condition, and the pulse frequency modulation can eliminate distance ambiguity to realize the distance measurement of a long-distance target.
Compared with the prior art, the high repetition frequency single photon laser radar capable of eliminating range ambiguity has the advantages that:
(1) The high-repetition-frequency single-photon laser radar adopts the event timer to accurately record the pulse time of both the reference light and the echo light, so that the picosecond-order time resolution can be realized, and the wide-range time measurement range can be realized.
(2) The high repetition frequency single photon laser radar adopts different time intervals between two adjacent laser pulses, so that only the echo light pulse corresponding to the triggering moment at this time can be accumulated in the accumulation process, the echo light pulse at the non-triggering moment at this time can not be accumulated by discretization, and a plurality of echoes can not appear in the transmitted high repetition frequency laser pulse under the condition of a large time measurement range.
(3) The high repetition frequency single photon laser radar adopts the high repetition frequency modulation laser pulse, not only solves the problem of multiple accumulation of a photon counting system, but also can adapt to the distance measurement occasion under the motion condition, and can eliminate distance ambiguity to realize the distance measurement of a long-distance target.
Drawings
FIG. 1 is a schematic structural diagram of a high repetition frequency single photon laser radar capable of eliminating range ambiguity.
FIG. 2 is a diagram of a pulse frequency modulation waveform according to the present invention.
Fig. 3 is a schematic diagram of echo signal extraction according to the present invention.
Detailed Description
In order that the objects, aspects and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in which the embodiments are shown.
The invention relates to a high repetition frequency single photon laser radar capable of eliminating range ambiguity, which comprises a control module 1, a laser 2, a beam splitter 3, an emission optical system 4, a photodiode 5, a first event timer 6, a receiving optical system 7, a single photon detector 8, a second event timer 9 and a signal processing module 10, wherein the control module 1 is used for generating a trigger pulse signal with adjustable repetition frequency, and the trigger pulse signal is used as a main control signal of the laser to control the emission time of laser pulses; the laser 2 is used for generating a laser pulse signal, and the pulse frequency is controlled by the control module 1; the beam splitter 3 divides a laser signal emitted by the laser into two parts, wherein most of the laser is transmitted to the emission optical system 4 as signal light, and a small part of the laser is transmitted to the photodiode 5 as reference light; the emission optical system 4 is used for collimating and expanding signal light and emitting the signal light to a target to be detected; the photodiode 5 is used for detecting the reference light split by the beam splitter 3 and taking the reference light as a timing reference signal; the first event timer 6 is used for accurately recording the time of the reference light pulse, and the time is used as the starting point of the measurement of the flight time of the pulse; the receiving optical system 7 is used for receiving laser echo signals reflected/scattered by the measured target; the single-photon detector 8 is used for responding to a weak echo light pulse signal of a photon magnitude; the second event timer 9 is used for accurately recording the time of the echo light pulse, and the time is used as an end point of the pulse flight time measurement; the signal processing module 10 is configured to perform time-dependent single photon counting processing, so as to obtain a histogram, calculate a pulse flight time, and finally implement measurement of a target distance.
As shown in fig. 1, the high repetition frequency single photon laser radar capable of eliminating range ambiguity provided by the present invention includes a control module 1, a laser 2, a beam splitter 3, an emission optical system 4, a photodiode 5, a first event timer 6, a reception optical system 7, a single photon detector 8, a second event timer 9, and a signal processing module 10. The control module 1 is used for generating a trigger pulse signal with adjustable repetition frequency, and the trigger pulse signal is used as a main control signal of the laser 2 and is used for controlling the emission time of the laser pulse. The first event timer and the second event timer are used for respectively recording the time of the reference light pulse and the time of the echo light pulse, time-related single photon counting processing is carried out by the signal processing module 10, due to the fact that the frequency of the laser pulse is constantly changed, only the echo light pulse at the triggering time of this time can be accumulated in the accumulation process, the echo light pulse at the non-triggering time of this time is discretized, and finally the single photon laser radar can carry out distance measurement on a long-distance target under the condition of high repetition frequency.
The pulse signal with a modulated repetition frequency generated by the control module 1 is used as a main control signal of the laser 2 to control the emitting time of the laser pulse, and a pulse frequency modulation waveform diagram is shown in fig. 2. Only by reasonably controlling the variation of the repetition frequency of the laser pulse, the echo light pulses corresponding to the triggering time can be ensured to fall within the same range gate under the condition of the specified relative movement speed of the target in the pulse triggering timing process, so that the echo light pulses can be accumulated; the echo light pulse at the triggering moment is discretized and cannot be accumulated, so that a plurality of echoes of the transmitted high repetition frequency laser pulse cannot appear under the condition of a large measuring range. Therefore, the single-photon laser radar can not generate the distance fuzzy problem, and can transmit laser pulse with higher repetition frequency to realize the laser ranging of the moving target.
In order to explain the basic principle of the high repetition frequency single photon laser radar capable of eliminating range ambiguity in more detail, the echo signal extraction method is explained here, and is specifically shown in fig. 3. In a time measurement period, t i The pulse collected after the time trigger timing is only r i Is the echo, r, produced by the laser pulse emitted at that moment i And t i The time interval between represents the real round-trip flight time of the laser pulse, and can be used for calculating the target distance; and r is j (i ≠ j) is the echo generated by the laser pulse emitted at other times, r j And t i The time interval between the pulses is not the real round-trip flight time of the laser pulse and cannot be usedThe target distance is calculated.
In addition, in order to make t i R collected after time trigger timing j (i ≠ j) pulses do not overlap during multiple accumulations, and must be distributed discretely without appearing within the same range gate. To achieve this effect, the time t of the timer is triggered i The following relationship must be satisfied:
here T bin V is the target relative movement speed, and c is the speed of light. That is, in performing the accumulation process a plurality of times, the time interval between two laser pulses should satisfy the following condition:
as long as it is ensured that the periods of the laser pulses differ by a distance gate time T bin Can be made t i R collected after time triggering and timing j (i ≠ j) pulses do not occur within the same range gate over multiple accumulations and thus do not overlap.
The high repetition frequency laser ranging method based on pulse frequency modulation can eliminate range ambiguity to realize long-distance target ranging, solve the problem of multiple accumulation of a photon counting system and adapt to ranging occasions under motion conditions. Meanwhile, the event timer is adopted to accurately record the pulse time of the reference light and the echo light, so that the time resolution of picosecond magnitude can be realized, the time measurement range of large range can be realized, and the contradiction between the time resolution and the time measurement range is overcome.
Claims (1)
1. A high repetition frequency single photon laser radar capable of eliminating range ambiguity is characterized in that: the high-repetition-frequency single-photon laser radar comprises a control module (1), a laser (2), a beam splitter (3), an emission optical system (4), a photodiode (5), a first event timer (6), a receiving optical system (7), a single-photon detector (8), a second event timer (9) and a signal processing module (10), wherein the control module (1) is used for generating a trigger pulse signal with adjustable repetition frequency, and the trigger pulse signal is used as a main control signal of the laser and is used for controlling the emission time of laser pulses; the laser (2) is used for generating a laser pulse signal, and the pulse frequency is controlled by the control module (1); the beam splitter (3) divides a laser signal emitted by the laser into two parts, wherein most of the laser is transmitted to the emission optical system (4) to be used as signal light, and the small part of the laser is transmitted to the photodiode (5) to be used as reference light; the emission optical system (4) is used for collimating and expanding signal light and emitting the signal light to a measured target; the photodiode (5) is used for detecting the reference light split by the beam splitter (3) and taking the reference light as a timing reference signal; the first event timer (6) is used for accurately recording the time of the reference light pulse and taking the time as the starting point of the measurement of the flight time of the pulse; the receiving optical system (7) is used for receiving a laser echo signal reflected/scattered by a measured target; the single photon detector (8) is used for responding to a weak echo light pulse signal of a photon magnitude; the second event timer (9) is used for accurately recording the time of the echo light pulse, and the time is used as an end point of the pulse flight time measurement; the signal processing module (10) is used for carrying out time correlation single photon counting processing so as to obtain a histogram, calculating the flight time of pulses and finally realizing the measurement of a target distance;
a control module (1) is adopted to generate a trigger pulse signal with adjustable repetition frequency as a main control signal of the laser, and the trigger pulse signal is used for controlling the emission time of laser pulses so that the time intervals between two adjacent pulses output by the laser are different;
the event timer is adopted to accurately record the pulse time of the reference light and the echo light, so that the time resolution of picosecond magnitude can be realized, the time measuring range of large measuring range can be realized, and the contradiction between the time resolution and the time measuring range is overcome;
the time intervals between two adjacent laser pulses are different, so that only the echo light pulse corresponding to the triggering time of this time can be accumulated in the accumulation process, the echo light pulse at the triggering time of non-this time cannot be accumulated due to discretization processing, and a plurality of echoes cannot appear in the emitted high-repetition-frequency laser pulse under the condition of a large-range time measurement range;
the pulse frequency modulation mode with high repetition frequency is adopted, the high repetition frequency not only solves the problem of multiple accumulation of a photon counting system, but also can adapt to the ranging occasion under the motion condition, and the pulse frequency modulation can eliminate the range ambiguity and realize the ranging of a long-distance target;
wherein, in a time measurement period, t i The pulse collected after the time trigger timing is only r i Is the echo, r, produced by the laser pulse emitted at that moment i And t i The time interval between the two represents the real round-trip flight time of the laser pulse, and is used for calculating the target distance; and r j I ≠ j, is the echo generated by the laser pulse emitted at other times, r j And t i The time interval between is not the true round-trip time of laser pulse and cannot be used to calculate the target distance;
to make t i R collected after time trigger timing j I ≠ j, the pulses cannot be superposed in the process of multiple accumulation, the pulses must be distributed discretely and do not appear in the same range gate, and the timing time t is triggered i The following relationship must be satisfied:
here T bin For the range gate time, V is the target relative motion velocity and c is the speed of light, i.e. the time interval between two laser pulses during multiple accumulation should satisfy the following condition:
as long asEnsuring that the periods of the laser pulses differ by a time T from the gate bin Can make t be i R collected after time triggering and timing j (i ≠ j) pulses do not occur within the same range gate during multiple accumulations and thus do not overlap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910501221.XA CN110161522B (en) | 2019-06-11 | 2019-06-11 | High-repetition-frequency single-photon laser radar capable of eliminating range ambiguity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910501221.XA CN110161522B (en) | 2019-06-11 | 2019-06-11 | High-repetition-frequency single-photon laser radar capable of eliminating range ambiguity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110161522A CN110161522A (en) | 2019-08-23 |
| CN110161522B true CN110161522B (en) | 2022-11-11 |
Family
ID=67628344
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910501221.XA Active CN110161522B (en) | 2019-06-11 | 2019-06-11 | High-repetition-frequency single-photon laser radar capable of eliminating range ambiguity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110161522B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110632578B (en) * | 2019-08-30 | 2022-12-09 | 深圳奥锐达科技有限公司 | System and method for time-encoded time-of-flight distance measurement |
| WO2021035695A1 (en) * | 2019-08-30 | 2021-03-04 | 深圳奥锐达科技有限公司 | System and method for measuring distance by time of flight based on time codes |
| CN110687545B (en) * | 2019-09-27 | 2022-03-25 | 电子科技大学中山学院 | High-precision laser radar system |
| CN110749898B (en) * | 2019-10-18 | 2022-05-27 | 深圳奥锐达科技有限公司 | Laser radar ranging system and ranging method thereof |
| CN110850428B (en) * | 2019-12-12 | 2021-11-23 | 北京万集科技股份有限公司 | Laser radar ranging method, device, equipment and storage medium |
| CN113567959B (en) * | 2020-07-27 | 2022-09-16 | 北京一径科技有限公司 | Detection method and device of repetition frequency signal, processing equipment and storage medium |
| CN112130163B (en) * | 2020-11-26 | 2021-02-05 | 南京天朗防务科技有限公司 | Laser ranging system and method based on single photon detection |
| CN112731429B (en) * | 2020-12-10 | 2024-05-14 | 四川九洲空管科技有限责任公司 | Phase type laser radar ranging device based on pulse position modulation |
| CN112731428B (en) * | 2020-12-25 | 2023-11-28 | 中国科学技术大学 | Ranging device and active three-dimensional imaging system |
| CN113514850A (en) * | 2021-04-16 | 2021-10-19 | 山东省科学院海洋仪器仪表研究所 | Self-adaptive distance gating underwater laser imager and imaging method thereof |
| CN115657055A (en) * | 2021-07-07 | 2023-01-31 | 奥比中光科技集团股份有限公司 | Distance measurement system and method for shielding fuzzy distance value |
| CN115657054A (en) * | 2021-07-07 | 2023-01-31 | 奥比中光科技集团股份有限公司 | Method, device and equipment for shielding fuzzy distance value of ranging system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4151415A (en) * | 1977-10-31 | 1979-04-24 | Varo, Inc. | Active imaging system using variable gate width time programmed dwell |
| CN101722888A (en) * | 2008-10-29 | 2010-06-09 | 中国科学院半导体研究所 | Method for realizing anti-interference large visual field distance gating vehicle night vision |
| CN203909297U (en) * | 2014-01-20 | 2014-10-29 | 华东师范大学 | Laser range finder based on high-speed single-photon detection |
| CN104977571A (en) * | 2015-06-25 | 2015-10-14 | 西安电子科技大学 | Distance blur clutter suppression method based on pitch frequency diversity STAP |
| CN105607073A (en) * | 2015-12-18 | 2016-05-25 | 哈尔滨工业大学 | Photon-counting imaging laser radar for filtering noise in real time by adopting adjacent pixel element threshold value method |
| CN107144834A (en) * | 2017-05-23 | 2017-09-08 | 哈尔滨工业大学 | A kind of Gao Zhongying pulse radar extends the waveform design method of finding range |
| CN109343069A (en) * | 2018-08-24 | 2019-02-15 | 南京理工大学 | The photon counting laser radar and its distance measuring method of assembled pulse ranging can be achieved |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9696412B2 (en) * | 2012-02-16 | 2017-07-04 | Nucript LLC | System and method for measuring optical delay using a single photon detector with pulsed optical signals |
| EP3411660A4 (en) * | 2015-11-30 | 2019-11-27 | Luminar Technologies, Inc. | Lidar system with distributed laser and multiple sensor heads and pulsed laser for lidar system |
| CN106526608A (en) * | 2016-12-29 | 2017-03-22 | 中科和光（天津）应用激光技术研究所有限公司 | VCSEL-based laser radar ranging device |
| US10976417B2 (en) * | 2017-03-29 | 2021-04-13 | Luminar Holdco, Llc | Using detectors with different gains in a lidar system |
| CN108168717B (en) * | 2017-12-13 | 2020-06-23 | 中国科学院光电技术研究所 | Photon number resolution balance detector |
| CN108089194B (en) * | 2017-12-15 | 2021-08-13 | 中国科学院光电技术研究所 | Photon counting laser radar based on composite pseudorandom coding |
-
2019
- 2019-06-11 CN CN201910501221.XA patent/CN110161522B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4151415A (en) * | 1977-10-31 | 1979-04-24 | Varo, Inc. | Active imaging system using variable gate width time programmed dwell |
| CN101722888A (en) * | 2008-10-29 | 2010-06-09 | 中国科学院半导体研究所 | Method for realizing anti-interference large visual field distance gating vehicle night vision |
| CN203909297U (en) * | 2014-01-20 | 2014-10-29 | 华东师范大学 | Laser range finder based on high-speed single-photon detection |
| CN104977571A (en) * | 2015-06-25 | 2015-10-14 | 西安电子科技大学 | Distance blur clutter suppression method based on pitch frequency diversity STAP |
| CN105607073A (en) * | 2015-12-18 | 2016-05-25 | 哈尔滨工业大学 | Photon-counting imaging laser radar for filtering noise in real time by adopting adjacent pixel element threshold value method |
| CN107144834A (en) * | 2017-05-23 | 2017-09-08 | 哈尔滨工业大学 | A kind of Gao Zhongying pulse radar extends the waveform design method of finding range |
| CN109343069A (en) * | 2018-08-24 | 2019-02-15 | 南京理工大学 | The photon counting laser radar and its distance measuring method of assembled pulse ranging can be achieved |
Non-Patent Citations (1)
| Title |
|---|
| 相位编码合成孔径激光雷达关键技术研究;李飞;《中国优秀博硕士学位论文全文数据库(博士)信息科技辑》;20161115;I136-5 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110161522A (en) | 2019-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110161522B (en) | High-repetition-frequency single-photon laser radar capable of eliminating range ambiguity | |
| CN110161519B (en) | Macro-pulse photon counting laser radar | |
| CN109343069B (en) | Photon counting laser radar capable of realizing combined pulse ranging and ranging method thereof | |
| CN108089194B (en) | Photon counting laser radar based on composite pseudorandom coding | |
| CN205175364U (en) | A laser profile scanning device for data acquisition | |
| CN103885065A (en) | Dual-wavelength dipulse non-fuzzy laser ranging device | |
| CN100478704C (en) | Chaos laser range-meaurement device and method of LD pumping solid laser | |
| CN103616696A (en) | Laser imaging radar device and distance measurement method thereof | |
| CN102998656B (en) | Frequency step based broadband distribution type radar time synchronizing method | |
| CN104849720A (en) | Correlation sampling based laser multi-pulse ranging system | |
| CN110161520B (en) | Photon counting coherent laser radar based on compressive sampling technology | |
| CN107907885B (en) | Underwater target detection device based on single photon counting method | |
| CN110741281B (en) | LiDAR system and method using late lock cover mode detection | |
| CN105652259A (en) | Laser ranging reading sequential circuit and method based on Geiger mode APD array | |
| CN102176024A (en) | Multi-pulse gate delay range gating laser imaging radar | |
| CN105403169B (en) | A kind of laser profile device and collecting method for data acquisition | |
| CN110161521B (en) | Photon counting laser radar based on true random coding | |
| CN110488241A (en) | A kind of laser radar multiple echo information extraction element and method | |
| CN109581333A (en) | Laser radar reading circuit based on the reconstruct of pulse echo ultra-high speed sampling | |
| CN103926590A (en) | Ranging distance laser multi pulse distance measuring method and distance measuring device thereof | |
| CN213023603U (en) | Three-dimensional imaging ground penetrating radar system | |
| CN109870702A (en) | A kind of distant-range high-precision laser ranging system and distance measuring method based on TDC | |
| US4153366A (en) | Rangefinding system | |
| US20240151852A1 (en) | Ranging methods for a lidar, lidars, and computer-readable storage media | |
| CN112526536B (en) | Single photon ranging system and method based on pulse train technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |